Excavation Experiment of Earth Worm Type Seabed Exploration Robot in Actual Sea Area

Okui, Manabu; Tokoi, Ryosuke; Toyama, Wataru; Tsumura, Kazuki; Isaka, Keita; Watanabe, Tomoki; Nakamura, Taro; Yoshida, Hiroshi

doi:10.1007/978-3-030-86294-7_30

Cited by 1 publication

(1 citation statement)

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“…Burrowing through solid substrates using peristalsis has proven much more challenging for robots. However, Omori et al (2013) use a combination of peristaltic locomotion and a rotating auger head to burrow in seabeds ( Isaka et al, 2019 ; Okui et al, 2021 ). In this case, peristaltic locomotion was effective once a burrow was created with an alternate method.…”

Section: Fundamental Problem Of Burrowingmentioning

confidence: 99%

Fundamentals of burrowing in soft animals and robots

Dorgan

Daltorio

2023

Front. Robot. AI

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Creating burrows through natural soils and sediments is a problem that evolution has solved numerous times, yet burrowing locomotion is challenging for biomimetic robots. As for every type of locomotion, forward thrust must overcome resistance forces. In burrowing, these forces will depend on the sediment mechanical properties that can vary with grain size and packing density, water saturation, organic matter and depth. The burrower typically cannot change these environmental properties, but can employ common strategies to move through a range of sediments. Here we propose four challenges for burrowers to solve. First, the burrower has to create space in a solid substrate, overcoming resistance by e.g., excavation, fracture, compression, or fluidization. Second, the burrower needs to locomote into the confined space. A compliant body helps fit into the possibly irregular space, but reaching the new space requires non-rigid kinematics such as longitudinal extension through peristalsis, unbending, or eversion. Third, to generate the required thrust to overcome resistance, the burrower needs to anchor within the burrow. Anchoring can be achieved through anisotropic friction or radial expansion, or both. Fourth, the burrower must sense and navigate to adapt the burrow shape to avoid or access different parts of the environment. Our hope is that by breaking the complexity of burrowing into these component challenges, engineers will be better able to learn from biology, since animal performance tends to exceed that of their robotic counterparts. Since body size strongly affects space creation, scaling may be a limiting factor for burrowing robotics, which are typically built at larger scales. Small robots are becoming increasingly feasible, and larger robots with non-biologically-inspired anteriors (or that traverse pre-existing tunnels) can benefit from a deeper understanding of the breadth of biological solutions in current literature and to be explored by continued research.

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Section: Fundamental Problem Of Burrowingmentioning

confidence: 99%